Self-adaptive sea-buckthorn harvesting device based on machine vision

Abstract

The invention discloses a self-adaptive hippophae rhamnoides harvesting device based on machine vision, relates to the technical field of hippophae rhamnoides harvesting, and solves the problems that the hippophae rhamnoides harvesting device is insufficient in intelligence, the position of each mechanism cannot be adjusted in real time according to the state of branches, and trees are easily damaged. The upper portion of the folding mechanism is connected with the conveying mechanism through a hydraulic folding machine, the height adjusting mechanism is arranged on the portion, at the front end of the conveying mechanism, of the support, the upper end of the height adjusting mechanism is connected with the branch shifting mechanism, and the lower end of the height adjusting mechanism is connected with the cutting mechanism and the branch gathering mechanism. The growth condition and the lodging condition of branches and the distribution condition of sea buckthorn fruits can be determined through image recognition, the opening and closing angle between the branch gathering plates on the left side and the right side, the height of the knife rest and the height and the extension length of the branch shifting wheels are automatically adjusted according to feedback data, and the automatic and efficient harvesting device is suitable for automatic and efficient harvesting of the sea buckthorn fruits.

Description

Technical Field

[0001] The invention relates to the technical field of sea buckthorn harvesting, and in particular to a self-adaptive sea buckthorn harvesting device based on machine vision. Background Art

[0002] Nowadays, the main way to harvest sea buckthorn fruit still relies on manual labor, which is inefficient and costly, and cannot achieve complete harvesting of large-scale sea buckthorn. In recent years, with the maturity and advancement of machine vision technology, a more efficient and intelligent solution has been provided for the automated harvesting of sea buckthorn fruit. At present, the research on self-propelled equipment in the field of sea buckthorn fruit harvesting is still in its infancy, and most of them are limited to the scope of traditional agricultural machinery, and the degree of intelligence is insufficient. These devices mostly rely on manual adjustment by the driver, and cannot scientifically and in real time adjust the mechanism, and the cutting range is often fixed, resulting in a high rate of missed cutting, and may also cause unnecessary damage to the sea buckthorn fruit trees. By adding a visual module, automatic real-time adjustment of harvesting can be achieved. Therefore, the development of a sea buckthorn harvesting device with a higher degree of intelligence and automatic adjustment and machine vision is the future development trend.

[0003] The present invention uses an industrial camera to obtain image information of sea buckthorn trees, identifies fruits, branches, leaves and background through algorithms, extracts features such as the position, size and maturity of the fruits, and locates the three-dimensional coordinates of the fruits based on the image information, providing the actuator with the best harvesting position. Summary of the invention

[0004] In view of the above-mentioned problems that the sea buckthorn harvesting device is not intelligent enough, cannot adjust the positions of various mechanisms in real time according to the state of branches, and is easy to cause damage to trees, the purpose of the present invention is to provide an adaptive sea buckthorn harvesting device based on machine vision by adding a visual module.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A self-adaptive seabuckthorn harvesting device based on machine vision, comprising: a frame 1, a hydraulic drive system, a control system and a seabuckthorn harvesting mechanism, wherein one or two seabuckthorn harvesting mechanisms are installed on the frame 1; when one seabuckthorn harvesting mechanism is installed on the frame 1, the seabuckthorn harvesting mechanism is arranged on the left or right side of the frame 1; when two seabuckthorn harvesting mechanisms are installed on the frame 1, the two seabuckthorn harvesting mechanisms are arranged on the left and right sides of the frame 1;

[0007] The sea buckthorn harvesting mechanism comprises: a folding mechanism 2, a conveying mechanism 3, a height adjustment mechanism 4, a cutting mechanism 5, a branch gathering mechanism 6 and a branch shifting mechanism 7. The folding mechanism 2 is rotatably mounted on the frame 1, the conveying mechanism 3 is mounted on the folding mechanism 2, the cutting mechanism 5 and the branch shifting mechanism 7 are mounted on the front end of the conveying mechanism 3 through the height adjustment mechanism 4, and the branch gathering mechanism 6 is mounted on the front end of the cutting mechanism 5; the branch gathering mechanism 6 is used to bunch sea buckthorn branches, the cutting mechanism 5 is used to cut bunched sea buckthorn branches, the branch shifting mechanism 7 is used to throw the cut sea buckthorn branches onto the conveying mechanism 3, and the conveying mechanism 3 is used to move the cut sea buckthorn branches to the stockpile;

[0008] The hydraulic drive system includes: a hydraulic pump drive device and a solenoid valve group, the solenoid valve group is installed at the output end of the hydraulic pump drive device, and the folding mechanism 2, the conveying mechanism 3, the height adjustment mechanism 4, the branch gathering mechanism 6 and the branch pulling mechanism 7 are all connected with the solenoid valve group through a hydraulic pipeline;

[0009] The electromagnetic valve group, the control system, the conveying mechanism 3, the height adjustment mechanism 4 and the cutting mechanism 5 are electrically connected, and the control system is used to control the operation of the sea buckthorn harvesting device.

[0010] The above-mentioned adaptive sea buckthorn harvesting device based on machine vision, wherein the folding mechanism 2 includes: a slewing support bearing 201, a hydraulic folding machine 202 and a guide hydraulic cylinder 204, the hydraulic folding machine 202 includes: a first folding plate, a second folding plate and a folding hydraulic cylinder, the lower side of the first folding plate and the side of the second folding plate are hinged, at least one folding hydraulic cylinder is installed between the first folding plate and the second folding plate, and multiple folding hydraulic cylinders are used to adjust the angle between the first folding plate and the second folding plate; the second folding plate is rotatably installed on the upper surface of the frame 1 through the slewing support bearing 201, one end of the guide hydraulic cylinder 204 is rotatably connected to the upper surface of the frame 1, the other end of the guide hydraulic cylinder 204 is rotatably connected to one end of the second folding plate, and the guide hydraulic cylinder 204 is used to drive the second folding plate to rotate.

[0011] The above-mentioned adaptive sea buckthorn harvesting device based on machine vision, wherein the folding mechanism 2 also includes: an auxiliary support 203, the auxiliary support 203 is installed on the upper surface of the frame 1, an arc slide is provided in the auxiliary support 203, and the other end of the second folding plate is slidably installed in the arc slide.

[0012] The above-mentioned adaptive sea buckthorn harvesting device based on machine vision, wherein the conveying mechanism 3 includes: a bracket 301, a conveyor belt 302 and a lifting hydraulic cylinder 303, the bracket 301 is installed on the first folding plate, the two sides of the front part of the conveyor belt 302 are respectively rotatably connected to the two sides of the front end of the bracket 301, the two lifting hydraulic cylinders 303 are symmetrically arranged, the cylinder ends of the two lifting hydraulic cylinders 303 are respectively rotatably connected to the two sides of the rear end of the bracket 301, and the cylinder rod ends of the two lifting hydraulic cylinders 303 are respectively rotatably connected to the two sides of the rear end of the conveyor belt 302; the two lifting hydraulic cylinders 303 are used to drive the conveyor belt 302 to rotate around the front end of the bracket 301.

[0013] The above-mentioned adaptive sea buckthorn harvesting device based on machine vision, wherein the height adjustment mechanism 4 includes: a rear support plate 401, a branch-push wheel adjustment rod 405, a branch-push wheel support rod 406, an electric push cylinder 407, an electric push cylinder connecting piece 408 and a branch-push wheel hydraulic cylinder 411, the two rear support plates 401 are respectively mounted on both sides of the front end of the bracket 301, the rear end of each branch-push wheel adjustment rod 405 is rotatably mounted on the upper end of a rear support plate 401, and a branch-push wheel hydraulic cylinder 411 is provided below each branch-push wheel adjustment rod 405, and the cylinder end of the branch-push wheel hydraulic cylinder 411 is rotatably mounted on the rear support On the support plate 401, the cylinder rod end of the branch plucking wheel hydraulic cylinder 411 is rotatably installed in the middle part of the branch plucking wheel adjusting rod 405; the branch plucking wheel hydraulic cylinder 411 is used to drive the branch plucking wheel adjusting rod 405 to rotate; each branch plucking wheel support rod 406 is inserted into the front end of a branch plucking wheel adjusting rod 405, the front end of the branch plucking wheel adjusting rod 405 is connected to the cylinder body of an electric push cylinder 407, the middle part of the branch plucking wheel support rod 406 is connected to the cylinder rod end of the electric push cylinder 407 through an electric push cylinder connecting piece 408, and the electric push cylinder 407 is used to drive the branch plucking wheel support rod 406 to slide along the branch plucking wheel adjusting rod 405.

[0014] The above-mentioned adaptive sea buckthorn harvesting device based on machine vision, wherein the height adjustment mechanism 4 also includes: an industrial camera 409, an industrial camera 409 is installed at the front end of each branch wheel support rod 406, and the industrial camera 409 is electrically connected to the control system.

[0015] The above-mentioned adaptive sea buckthorn harvesting device based on machine vision, wherein the height adjustment mechanism 4 includes: an upper connecting rod 402, a lower connecting rod 403, a front connecting rod 404 and a tool hydraulic cylinder 410, the rear end of each upper connecting rod 402 is rotatably connected to a rear support plate 401, the rear end of each lower connecting rod 403 is rotatably connected to a rear support plate 401, the upper connecting rod 402 located on the same rear support plate 401 is located above the lower connecting rod 403; the front end of the upper connecting rod 402 and the front end of the lower connecting rod 403 located on the same rear support plate 401 are rotatably connected to the upper and lower ends of the front connecting rod 404 respectively; a tool hydraulic cylinder 410 is provided below each lower connecting rod 403, the cylinder body end of the tool hydraulic cylinder 410 is rotatably installed on the rear support plate 401, and the cylinder rod end of the tool hydraulic cylinder 410 is rotatably installed in the middle of the lower connecting rod 403.

[0016] The above-mentioned adaptive sea buckthorn harvesting device based on machine vision, wherein the cutting mechanism 5 includes: a tool holder 501, a saw blade motor 502, a circular saw blade 503, a motor protection shell 504 and a tool holder rear end connection part 505, and the tool holder rear end connection parts 505 are installed at both ends of the tool holder 501, and each tool holder rear end connection part 505 is installed on a front connecting rod 404; a plurality of saw blade motors 502 and a motor protection shell 504 with a bottom opening are installed on the front side of the tool holder 501, and the plurality of saw blade motors 502 are all located in the motor protection shell 504, and a circular saw blade 503 is installed at the output end of each saw blade motor 502, and the plurality of circular saw blades 503 extend from the bottom opening of the motor protection shell 504.

[0017] The above-mentioned adaptive sea buckthorn harvesting device based on machine vision, wherein the branch gathering mechanism 6 includes: a branch gathering plate 601 and a branch gathering plate hydraulic cylinder 602, the two branch gathering plates 601 are symmetrically arranged at both ends of the tool holder 501 and rotatably installed on the tool holder 501, a plurality of saw blade motors 502 are located between the two branch gathering plates 601, the two branch gathering plate hydraulic cylinders 602 are respectively arranged on the outside of the two branch gathering plates 601, the cylinder body end of the branch gathering plate hydraulic cylinder 602 is rotatably connected to the tool holder 501, the cylinder rod end of the branch gathering plate hydraulic cylinder 602 is rotatably connected to the branch gathering plate 601, and the two branch gathering plate hydraulic cylinders 602 are used to adjust the angle between the two branch gathering plates 601.

[0018] The above-mentioned adaptive sea buckthorn harvesting device based on machine vision, wherein the branch-moving mechanism 7 includes: a branch-moving wheel 701, a hydraulic motor 702, a coupling 703 and a bearing seat 704, a bearing seat 704 is installed at the front end of each branch-moving wheel support rod 406, the bearing seat 704 located on the same branch-moving wheel support rod 406 is arranged on the rear side of the industrial camera 409, and the two ends of the branch-moving wheel 701 are respectively rotatably connected to the two bearing seats 704; the output end of the hydraulic motor 702 and one end of the branch-moving wheel 701 are transmission-connected through the coupling 703, and the hydraulic motor 702 and the solenoid valve group are connected through a hydraulic pipeline.

[0019] Due to the adoption of the above technology, the present invention has the following positive effects compared with the prior art:

[0020] (1) The present invention can harvest two rows of sea buckthorn trees at the same time. It is equipped with an industrial camera, which can determine the growth and lodging of branches and the distribution of sea buckthorn fruits through image recognition, and automatically adjust the opening and closing angles of the left and right branch gathering plates, the height of the tool holder, and the height and extension length of the branch moving wheel according to the feedback data. At the same time, the center position of the sea buckthorn tree can be adjusted by slightly rotating the slewing support bearing;

[0021] (2) In the present invention, the harvesting devices on the left and right sides operate completely independently and can be adjusted independently according to the state of the sea buckthorn trees to be harvested. The invention has a simple overall structure, high harvesting efficiency, good harvesting effect, and a high degree of intelligence, and is suitable for the automated and efficient harvesting of sea buckthorn fruits. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of an adaptive sea buckthorn harvesting device based on machine vision of the present invention.

[0023] Figure 2 The present invention is a top view of a machine vision-based adaptive sea buckthorn harvesting device, in which the right-side actuator is hidden and the left-side actuator is in a fully expanded state.

[0024] Figure 3 The present invention is a schematic structural diagram of a conveying mechanism of a self-adaptive seabuckthorn harvesting device based on machine vision.

[0025] Figure 4 The invention discloses a schematic diagram of the extreme positions of a height adjustment mechanism and a branch pulling mechanism of a self-adaptive sea buckthorn harvesting device based on machine vision.

[0026] Figure 5 The invention discloses a schematic diagram of the limit positions of the height adjustment mechanism and the branch pulling mechanism of a self-adaptive sea buckthorn harvesting device based on machine vision.

[0027] Figure 6The invention discloses a schematic diagram of the transmission structure of a branch-moving wheel of a self-adaptive seabuckthorn harvesting device based on machine vision.

[0028] Figure 7 It is a structural schematic diagram of a cutting mechanism of a self-adaptive sea buckthorn harvesting device based on machine vision of the present invention.

[0029] Figure 8 The present invention is a schematic structural diagram of a branch gathering mechanism of a self-adaptive seabuckthorn harvesting device based on machine vision.

[0030] Fig. 9 The invention discloses a schematic diagram of the connection structure of a branch gathering plate of a self-adaptive sea buckthorn harvesting device based on machine vision.

[0031] Fig.10 The present invention is a working process step diagram of a self-adaptive sea buckthorn harvesting device based on machine vision.

[0032] Fig.11 The present invention is a diagram of the harvesting process steps based on visual recognition of an adaptive seabuckthorn harvesting device based on machine vision.

[0033] In the attached drawings: 1, frame; 2, folding mechanism; 3, conveying mechanism; 4, height adjustment mechanism; 5, cutting mechanism; 6, branch gathering mechanism; 7, branch shifting mechanism; 201, slewing support bearing; 202, hydraulic folding machine; 203, guide hydraulic cylinder; 204, auxiliary support; 301, bracket; 302, conveyor belt; 303, lifting hydraulic cylinder; 401, rear support plate; 402, upper connecting rod; 403, lower connecting rod; 404, front connecting rod; 405, branch shifting wheel adjustment Rod; 406, branch-pushing wheel support rod; 407, electric push cylinder; 408, electric push cylinder connector; 409, industrial camera; 410, tool hydraulic cylinder; 411, branch-pushing wheel hydraulic cylinder; 501, tool holder; 502, saw blade motor; 503, circular saw blade; 504, motor protection shell; 505, rear end connection of tool holder; 601, branch gathering plate; 602, branch gathering plate hydraulic cylinder; 701, branch-pushing wheel; 702, hydraulic motor; 703, coupling; 704, bearing seat. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0035] Please refer to Figures 1 to 11As shown, an adaptive sea buckthorn harvesting device based on machine vision is shown, including a folding mechanism 2, a conveying mechanism 3, a height adjustment mechanism 4, a cutting mechanism 5, a branch gathering mechanism 6 and a branch shifting mechanism 7, a total of 6 parts, a group of folding mechanisms 2 are respectively provided at the left and right ends of the frame, the top of the folding mechanism 2 is connected to the conveying mechanism 3 through a hydraulic folding machine 202, a height adjustment mechanism 4 is provided on the bracket 301 at the front end of the conveying mechanism 3, the upper end of the height adjustment mechanism 4 is connected to the branch shifting mechanism 7, and the lower end of the height adjustment mechanism 4 is connected to the cutting mechanism 5 and the branch gathering mechanism 6.

[0036] Furthermore, the folding mechanism 2 includes a slewing support bearing 201, a hydraulic folding machine 202, a guide hydraulic cylinder 203, and an auxiliary support 204. The slewing support bearing 201 is connected to the frame 1 by bolts, and its lower end is fixed, while the upper end can rotate freely. The hydraulic folding machine 202 is connected to the slewing support bearing 201 by bolts, and can achieve 90-degree folding. At the same time, the connecting part of the front end of the hydraulic folding machine 202 is installed on the auxiliary support 204, and one end of the guide hydraulic cylinder 203 is connected to the frame 1, and the other end is connected to the hydraulic folding machine 202. The function of the guide hydraulic cylinder 203 is to assist the slewing support bearing 201 to complete the rotation action. At the same time, after the work is completed, it can be folded up for easy transportation and storage of the equipment.

[0037] Furthermore, the conveying mechanism 3 includes a bracket 301, a conveyor belt 302, and a lifting hydraulic cylinder 303. One side of the bracket 301 is welded to the platform of the hydraulic folding machine 202, and the middle and front ends of both sides of the conveyor belt 302 are connected to the shaft holes of the bracket 301 through shafts and bearings. The fixed end of the lifting hydraulic cylinder 303 is hinged to the connection part at the rear end of the bracket 301, and the working end of the lifting hydraulic cylinder 303 is hinged to the shaft end of one side of the conveyor belt 302. Lifting hydraulic cylinders 303 are provided on both sides of the conveyor belt 302, and the lifting hydraulic cylinders 303 on the left and right sides act simultaneously and are symmetrically distributed.

[0038] Furthermore, the height adjustment mechanism 4 includes a rear support plate 401, an upper connecting rod 402, a lower connecting rod 403, a front connecting rod 404, a branch-pushing wheel adjustment rod 405, a branch-pushing wheel support rod 406, an electric push cylinder 407, an electric push cylinder connector 408, an industrial camera 409, a tool hydraulic cylinder 410, and a branch-pushing wheel hydraulic cylinder 411. The rear support plate 401 is welded to both sides in front of the bracket 301, and the rear support plate 401, the upper connecting rod 402, the lower connecting rod 403, and the front connecting rod 404 together form a parallel four-bar linkage that can move up and down. The branch-pushing wheel adjustment rod 405 is hinged on the upper part of the rear support plate 401, the electric push cylinder 407 is installed above the branch-pushing wheel adjustment rod 405, and the branch-pushing wheel support rod 406 is sleeved in the branch-pushing wheel adjustment rod 405 and connected using the electric push cylinder connector 408. At the same time, the branch-moving wheel adjustment rod 405 and the parallel four-bar linkage are connected to the rear support plate 401 through a pin shaft through a tool hydraulic cylinder 410, and an industrial camera 409 is installed at the front end of the branch-moving wheel support rods 406 on the left and right sides, which together form binocular recognition. The height adjustment mechanism 4 can locate, identify and analyze the fruit distribution and growth of the front branches according to the binocular system composed of the industrial cameras 409 on the left and right sides, and automatically adjust the tool height, the height and extension length of the branch-moving wheel 701.

[0039] Furthermore, the cutting mechanism 5 includes a tool holder 501, a saw blade clamping motor 502, a circular saw blade 503 and a motor protection shell 504. The connection parts at the rear ends of both sides of the tool holder 501 are respectively installed at the front ends of the two front connecting rods 404 by bolts, and the seven saw blade clamping motors are arranged in sequence from left to right with a height difference of 100 mm and are connected to the tool holder 501 by bolts. The circular saw blade 503 is directly fixed in the clamping plate of the saw blade clamping motor 502, and the motor protection shell 504 covers all the saw blade clamping motors 502 and is fixed to the tool holder 501 by bolts.

[0040] Furthermore, the branch gathering mechanism 6 includes a branch gathering plate 601 and a branch gathering plate hydraulic cylinder 602. The mounting hole on the U-shaped connector at the rear end of the branch gathering plate 601 is connected to the mounting hole of the front connection part of the tool holder 501 through a pin shaft, so that the branch gathering plate 601 can rotate around the axis. One end of the branch gathering plate hydraulic cylinder 602 is connected to the front side of the tool holder 501, and the other end is connected to the positioning hole between the two square tubes horizontally welded on the side of the branch gathering plate 601. When the branch gathering plate hydraulic cylinder 602 is extended or retracted, the angle of the branch gathering plate 601 can be adjusted to change the opening and closing angle between the two branch gathering plates 601.

[0041] Furthermore, the branch-moving mechanism 7 includes a branch-moving wheel 701, a hydraulic motor 702, a coupling 703 and a bearing seat 704. The branch-moving mechanism 7 is installed at the front end of the branch-moving wheel support rod 406, and the branch-moving wheel support rods 406 located on the left and right sides of the conveyor belt 302 jointly fix the branch-moving mechanism 7. A fixing plate on which only the bearing seat 704 is installed is welded at the front end of the branch-moving wheel support rod 406 located on the left side of the conveyor belt 302, and a fixing plate on which the hydraulic motor can be fixed is welded at the front end of the branch-moving wheel support rod 406 located on the right side of the conveyor belt 302. The hydraulic motor is connected by bolts, and the bearing seat 704 is connected by bolts on the inside. The shaft of the hydraulic motor 702 is connected to the coupling 703 by a key, and shafts are welded at both ends of the branch-moving wheel 701. The shafts at both ends of the branch-moving wheel 701 are respectively connected to the bearings in the bearing seats 704 on both sides by interference fit, and the shaft on the right side of the branch-moving wheel 701 is connected to the other end of the coupling 703 by a key.

[0042] The present invention provides a harvesting method of a sea buckthorn harvesting device based on machine vision, comprising the following steps:

[0043] S100: The vehicle body moves between two rows of sea buckthorn trees, the slewing support bearings 201 on both sides rotate relative to each other at a certain angle, and the hydraulic folding machine 202 folds to unfold the mechanism.

[0044] S200: The industrial cameras 409 on both sides perform single-target positioning respectively, and then the two industrial cameras 409 perform binocular stereoscopic vision calibration and process the images to obtain binocular corrected images, and then perform three-dimensional reconstruction through calculation to obtain information such as branch status and fruit distribution.

[0045] S300: Adjust the cutting mechanism 5 and the branch gathering mechanism 6 to appropriate heights according to the fruit growth position fed back by the data; adjust the height of the branch shifting wheel 701 and the extension length of the branch shifting wheel 701 according to the length and the falling condition of the branches; adjust the opening and closing angle between the two branch gathering plates 601 according to the state of the fallen branches on the left and right sides.

[0046] S400: The branch gathering plate 601 first contacts the branches lying on both sides and lifts them up along the curved slope of the branch gathering plate 601. The branch shifting wheel 701 rotates counterclockwise to comb the messy branches and give them a tendency to bend backwards. As the machine body continues to move forward, the branch shifting wheel 701 presses the branches onto the conveyor belt 302 and sends them into the cutting range of the cutting mechanism 5. The high-speed rotating circular saw blade 503 cuts off the branches.

[0047] S500: The cut branches are hooked onto the conveyor belt 302 through the barbs welded on the conveyor belt 302, and the branches are transported to the collection box at the rear.

[0048] S600: After a sea buckthorn tree is harvested, the binocular camera will take a picture of the front and determine whether there is a sea buckthorn tree in front; if no sea buckthorn tree is identified, it means that the row has been fully harvested; if a sea buckthorn tree is identified, an image analysis is performed on it and the various mechanisms are readjusted.

[0049] The beneficial effects of the present invention are as follows: the adaptive sea buckthorn harvesting device based on machine vision of the present invention can efficiently harvest two rows of sea buckthorn trees respectively according to the data fed back in real time by the visual system. It is equipped with an industrial camera 409 and combined with a deep learning algorithm to optimize the harvesting path and strategy, further improving efficiency and benefits. The present invention can determine the growth, lodging and distribution of sea buckthorn fruits of tree branches through image recognition, and automatically adjust the opening and closing angles between the left and right branch gathering plates 601, the height of the tool holder 501 and the height and extension length of the branch shifting wheel 701 according to the feedback data. The center position of the sea buckthorn tree can also be adjusted by a small rotation of the slewing support bearing 201, thereby improving the adaptability of the harvester to complex environments. The overall structure of the invention is simple, the harvesting efficiency is high, the harvesting effect is good, and the degree of intelligence is high, which is suitable for the automated and efficient harvesting of sea buckthorn fruits.

[0050] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation manner and protection scope of the present invention.

[0051] The present invention also has the following implementation modes based on the above:

[0052] In a further embodiment of the present invention, specific implementation mode 1: a double-row sea buckthorn harvesting device for efficient simultaneous harvesting in this implementation mode comprises: a frame 1, a folding mechanism 2, a conveying mechanism 3, a height adjustment mechanism 4, a cutting mechanism 5, a branch gathering mechanism 6, and a branch moving mechanism 7.

[0053] In this embodiment, the frame 1 has symmetrically distributed positioning holes, and the frame 1 is a tunnel traction structure. The actuators on the left and right sides are installed on the frame 1, and wheels are installed below them, which can be driven by an engine to achieve self-propelled performance. Figure 1 , Figure 2 , Figure 3 As shown, the folding mechanism 2 is bolted to the frame 1 through the fixing structure at the lower part of the slewing support bearing 201; Figure 3 As shown, the bracket 301 on one side of the conveying mechanism 3 is welded to the platform of the hydraulic folding machine 202; Figure 3 , Figure 4 As shown, the rear support plates 401 of the two sets of parallel height adjustment mechanisms 4 are fixed on the plane at the front end of the bracket 301 by welding; Figure 7 As shown, the cutting mechanism 5 is bolted to the front connecting rod 404 through the connecting portion 505 at the rear end of the tool holder 501; Figure 8 , Fig. 9As shown, the branch gathering mechanism 6 is installed on the connection part of the front end of the tool holder 501 through the connection hole at the rear end of the branch gathering plate 601 through a pin shaft, and at the same time, the working end of the branch gathering plate hydraulic cylinder 604 is connected to the holes on the two horizontally welded square tubes on the side of the branch gathering plate 601 by a pin shaft, and the other end of the hydraulic cylinder 604 is connected to the front end of the tool holder 501 by a pin shaft; Figure 6 As shown, the hydraulic motor 702 and the bearing seat 704 of the branch-moving mechanism 7 are both mounted on a fixed plate welded at the front end of the branch-moving wheel support rod 405 by bolts.

[0054] In a further embodiment of the present invention, specific implementation method 2: combining Figure 2 The present embodiment is described. The folding and unfolding mechanism 2 of the present embodiment includes: a slewing support bearing 201 , a hydraulic folding machine 202 , a guide hydraulic cylinder 203 , and an auxiliary support 204 .

[0055] The fixing structure at the lower part of the slewing support bearing 201 in this embodiment is installed on the frame 1 by bolts; the hydraulic folding machine 202 is installed on the upper part of the slewing support bearing 201 by bolts; the two ends of the guide hydraulic cylinder 203 are respectively installed on the frame 1 and the hydraulic folding machine 202 by pins; the auxiliary support 204 is welded to the frame 1, and there is a guide rail inside the auxiliary support 204, and the front end of the hydraulic folding machine 202 is installed in the guide rail.

[0056] The specific movement mode of this embodiment is: the connecting piece at the front end of the hydraulic folding machine 202 is placed in the guide rail of the auxiliary support 204, so that the front end of the hydraulic folding machine 202 can slide along the guide rail; when working, the slewing support bearing 201 rotates a certain angle. Since the conveying mechanism 3, the height adjustment mechanism 4, the cutting mechanism 5, the branch gathering mechanism 6, and the branch pulling mechanism 7 are all located on the hydraulic folding machine 202, the hydraulic folding machine 202 will bear a lot of weight, so the guide hydraulic cylinder 203 plays an auxiliary rotation role. When it rotates to a suitable angle, the upper end face of the hydraulic folding machine 202 is folded 90 degrees, and each mechanism is unfolded to a working state.

[0057] In a further embodiment of the present invention, specific implementation method three: combining Figure 3 The present embodiment is described. The conveying mechanism 3 of the present embodiment includes: a support 301 , a conveyor belt 302 , and a lifting hydraulic cylinder 303 .

[0058] In this embodiment, one side of the triangular frame on the left and right sides of the bracket 301 is fixed to the platform of the hydraulic folding machine 202 by welding, and the other side is in a suspended state. There are several groups of bearing seats symmetrically distributed on both sides of the conveyor belt 302 and fixed by bolts. At the same time, the side of the triangular frame also has a bearing seat fixed by bolts. The bearing seats on the two sides of the conveyor belt 302 are respectively connected to the bearing seats on the side of the bracket 301 through an axis, so that the front part of the conveyor belt 302 can rotate around the axis; there is a connecting part on each side of the left and right sides of the rear end of the bracket 301, and the lifting hydraulic cylinder 303 is connected to the connecting piece at the rear end of the bracket 301 through a pin shaft, and the working part of the lifting hydraulic cylinder 303 is interference connected with the bearing in the bearing seat at the rear end of the conveyor belt 302 through a short shaft.

[0059] The specific movement mode of this embodiment is: the lifting hydraulic cylinder 303 is connected to the side end face of the middle rear part of the conveyor belt 302, so that the conveyor belt 302 forms a lever structure. The lifting hydraulic cylinder 303 can be extended and retracted to make the conveyor belt 302 rotate around the axis at a certain angle, so that its height can be adjusted within a small range.

[0060] In a further embodiment of the present invention, the fourth embodiment: combining Figure 4 , Figure 5 To illustrate this embodiment, the height adjustment mechanism 4 of this embodiment includes: a rear support plate 401, an upper connecting rod 402, a lower connecting rod 403, a front connecting rod 404, a branch pushing wheel adjustment rod 405, a branch pushing wheel support rod 406, an electric push cylinder 407, an electric push cylinder connecting piece 408, an industrial camera 409, a tool hydraulic cylinder 410, and a branch pushing wheel hydraulic cylinder 411.

[0061] In this embodiment, the rear support plate 401 is welded to the front end of the fixing frame 301, and one end of the upper connecting rod 402 and the lower connecting rod 403 are hinged to the connecting pieces in the middle and lower parts of the rear support plate 401 through a pin shaft, and the other ends of the upper connecting rod 402 and the lower connecting rod 403 are hinged to the positioning holes in the upper and middle parts of the front connecting rod 404 through a pin shaft to form a parallel four-bar linkage that can swing up and down; the working end of the tool hydraulic cylinder 410 is installed on the positioning hole in the middle part of the lower connecting rod 403 through a pin shaft, and the other end is connected to the connecting part at the lowest end of the rear support plate 401 through a pin shaft; the branch wheel adjustment rod 405 is hinged with a pin shaft On the connecting piece at the upper end of the rear support plate 401, the electric push cylinder 407 is installed on the branch plucking wheel adjusting rod 405 by bolts, and the push rod of the electric push cylinder 407 is welded with an electric push cylinder connecting piece 408, and the electric push cylinder connecting piece 408 is connected to the side of the branch plucking wheel support rod 406 by bolts, and the branch plucking wheel support rod 406 must be sleeved in the branch plucking wheel adjusting rod 405; the industrial camera 409 is installed at the front end of the branch plucking wheel support rod 406; the working end of the branch plucking wheel hydraulic cylinder 411 is connected to the connecting part at the lower end of the branch plucking wheel adjusting rod 405 by a pin shaft, and the other end is connected to the connecting part at the upper end of the rear support plate 401 by a pin shaft.

[0062] The specific movement mode of this embodiment is: the parallel four-bar linkage composed of the rear support plate 401, the upper connecting rod 402, the lower connecting rod 403, and the front connecting rod 404 is an integral whole, the rear support plate 401 and the front connecting rod 404 remain parallel, the upper connecting rod 402 and the lower connecting rod 403 always remain parallel, under the telescopic movement of the tool hydraulic cylinder 410, it will directly drive the lower connecting rod 403 to rotate downward or upward, and the upper connecting rod 402 will also move synchronously, and the front connecting rod 404 directly connected to the two will also be driven to move downward or upward synchronously, and Figure 5 The working height of the cutting mechanism 5 can be adjusted within the range of the upper limit position 414 and the lower limit position 415 shown in the figure; the branch wheel adjusting rod 405 is hinged to the rear support plate 401, and the upper end of the branch wheel adjusting rod 405 is fixed with an electric push cylinder 407, and the push rod of the electric push cylinder 407 is fixed to the branch wheel support rod 406 through the electric push cylinder connector 408. Therefore, under the extension and contraction of the electric push cylinder 407, the extension length of the branch wheel 701 can be adjusted; the branch wheel adjusting rod 405 realizes an arc-shaped swing under the direct push of the branch wheel hydraulic cylinder 411, as shown in FIG. Figure 4 As shown, the branch shifting wheel 701 has a certain height difference between the lower limit position 412 and the upper limit position 413 of the swing, so as to achieve the adjustment of the height of the branch shifting wheel 701.

[0063] In a further embodiment of the present invention, the fifth embodiment: combining Figure 7 , Figure 4To describe this embodiment, the cutting mechanism 5 of this embodiment includes: a tool holder 501 , a saw blade clamping motor 502 , a circular saw blade 503 , a motor protection shell 504 , and a tool holder rear end connection portion 505 .

[0064] In this embodiment, the rear end connection part 505 of the tool holder 501 is symmetrically distributed on both sides, and is bolted to the front connection rods 404 of the two sets of parallel four-bar linkage mechanisms respectively; the saw blade motor 502 is arranged in sequence from left to right with a height difference of 100 mm, and is bolted to the corresponding 7 sets of holes on the tool holder 501; the circular saw blade 503 is directly fixed to the saw blade motor 502 through a chuck; the motor protection shell 504 needs to cover all the saw blade motors 502 and be fixed to the tool holder 501 by bolt connection.

[0065] In a further embodiment of the present invention, specific implementation method 6: combining Figure 8 , Fig. 9 The present embodiment is described. The branch gathering mechanism 6 of the present embodiment includes: a branch gathering plate 601 and a branch gathering plate hydraulic cylinder 602 .

[0066] In this embodiment, a positioning hole is provided in the middle part of the connection part 603 welded at the rear end of the branch gathering plate 601, which is connected to the hole of the connection piece extending from the front end of the tool holder 501 through a pin, so that the branch gathering plate 601 can rotate freely around the axis; at the same time, two square tubes are horizontally welded to the side of the branch gathering plate 601, and the two square tubes have circular holes penetrating vertically downward, and the working end of the branch gathering plate hydraulic cylinder 602 is connected to the hole on the square tube through a pin, and the other end is connected to the tool holder through a pin; in the actual working process, the branch gathering plate 601 can be freely rotated by extending and retracting the hydraulic rod of the branch gathering plate hydraulic cylinder 602, so that it can rotate freely between the outer limit position 603 and the inner limit position 604 of the rotation, that is, the opening and closing angle between the two branch gathering plates 601 can be changed at any time by the branch gathering plate hydraulic cylinder 602.

[0067] In a further embodiment of the present invention, specific implementation method seven: combining Figure 6 To describe this embodiment, the branch-moving mechanism 7 of this embodiment includes: a branch-moving wheel 701 , a hydraulic motor 702 , a coupling 703 , and a bearing seat 704 .

[0068] In this embodiment, the front ends of the branch-moving wheel support rods 406 on the left and right sides of the conveyor belt 302 are welded with fixing plates for mounting the bearing seat 704, wherein the fixing plate on the left side is mounted with the bearing seat 704 by bolts, and the outer end face of the fixing plate on the right side is mounted with the hydraulic motor 702 by bolts, the shaft of the hydraulic motor 702 is connected with the coupling 703 by key connection, and the other end face of the fixing plate on the right side is connected with the bearing seat 704 by bolts; short shafts are welded on the left and right sides of the branch-moving wheel 701, and the shaft on the left side of the branch-moving wheel 701 is directly connected with the bearing in the bearing seat 704 on the left mounting plate by interference fit. The shaft on the right side is firstly interference fit with the bearing in the bearing seat 704, and then connected with the other aperture of the coupling 703 by key connection, so that the hydraulic motor 702 drives the branch-moving wheel 701 to rotate.

[0069] like Fig.11 As shown in the figure, the application process of the adaptive sea buckthorn harvesting device based on machine vision includes the following 8 steps:

[0070] S1: Firstly, driven by the external power system, the whole machine can start to move and be placed in the working scene of sea buckthorn harvesting, so that the device is in a standby working state.

[0071] S2: When the device receives the start command, the binocular vision recognition function of the device will work continuously, and the device will judge the plant position and the working status of the device based on the binocular vision recognition data information obtained in real time. The binocular camera composed of two industrial cameras 409 fixed on the upper end of the branch wheel support rod 406 obtains the picture of the sea buckthorn tree in front, and performs three-dimensional reconstruction through calculation to determine whether it is a sea buckthorn plant that needs to be harvested, and further analyzes to obtain the state of the branches and the distribution of the fruits. The identified data information is divided into 4 categories, the state of the harvesting device, the branch gathering function parameters of the sea buckthorn plant, the branch shifting function parameters, and the cutting function parameters.

[0072] S3: When it is determined that there are still sea buckthorn fruit trees to be collected ahead, adjustments are made according to the feedback data: the cutter and the branch gathering plate 601 are adjusted to a suitable height according to the fruit distribution; the branch shifting wheel 701 is adjusted to a suitable height according to the length of the branches to be cut and the height of the sea buckthorn trees; the width between the two branch gathering plates 601 is adjusted according to the state of the fallen branches on the left and right sides.

[0073] S4: When the vehicle body is moving, various components are adjusted according to the analysis data of the photos taken at a longer distance. Then, when the branch gathering plate 601 of the sea buckthorn harvesting device contacts the plant, photos are taken again to obtain the precise three-dimensional coordinates of the branches. According to the data, the extension length of the branch shifting wheel support rod 406 is adjusted and the width between the two branch gathering plates 601 is fine-tuned again.

[0074] S5: The machine body continues to move forward, the branch gathering plate 601 lifts up the fallen branches on both sides, and at the same time the branch shifting wheel 701 sorts out the messy branches and shifts them backwards to the cutting range of the cutter.

[0075] S6: After the branches are cut off by the circular saw blade 503 rotating at a high speed, the cut branches are hooked onto the conveyor belt 302 through the transmission belt 302 welded with barbs, and transported to the collection box at the rear.

[0076] S7: After completing the harvesting of the current plant, the binocular camera takes a photo of the front to determine whether a sea buckthorn tree can be identified in the front; if not, the harvesting work of the current row is completed, and the fuselage needs to turn to complete the harvesting work of other rows of sea buckthorn trees; if a sea buckthorn tree is identified, repeat the above steps S1 to S5 to complete the harvesting work of the next sea buckthorn tree.

[0077] S8: When it is identified that there are no sea buckthorn trees that need to be harvested ahead, the harvesting work is completed, the automatic operation command ends, and the device is in a standby state.

[0078] The above-mentioned implementation is an implementation of a sea buckthorn harvesting device on one side. The present invention is an adaptive sea buckthorn harvesting device based on machine vision that can harvest in two rows. The harvesting devices on both sides are symmetrically distributed, and the implementations on both sides are exactly the same. The only difference is that the state, lodging situation, and branch distribution of the left and right rows of sea buckthorn trees will be different, resulting in differences in the width spacing of the branch gathering plate 601, the height of the parallel four-bar linkage mechanism of the height adjustment mechanism 4, and the height of the branch shifting wheel 701. The width and height adjustment of the sea buckthorn harvesting devices on the left and right sides are performed separately without affecting each other.

[0079] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. An adaptive sea buckthorn harvesting device based on machine vision, characterized in that: include: A vehicle frame (1), a hydraulic drive system, a control system and a sea buckthorn harvesting mechanism, wherein one or two sea buckthorn harvesting mechanisms are installed on the vehicle frame (1); when one sea buckthorn harvesting mechanism is installed on the vehicle frame (1), the sea buckthorn harvesting mechanism is arranged on the left side or the right side of the vehicle frame (1); when two sea buckthorn harvesting mechanisms are installed on the vehicle frame (1), the two sea buckthorn harvesting mechanisms are arranged on the left and right sides of the vehicle frame (1); The sea buckthorn harvesting mechanism comprises: a folding mechanism (2), a conveying mechanism (3), a height adjustment mechanism (4), a cutting mechanism (5), a branch gathering mechanism (6) and a branch shifting mechanism (7); the folding mechanism (2) is rotatably mounted on the frame (1); the conveying mechanism (3) is mounted on the folding mechanism (2); the cutting mechanism (5) and the branch shifting mechanism (7) are mounted at the front end of the conveying mechanism (3) via the height adjustment mechanism (4); and the branch gathering mechanism (6) is mounted at the front end of the cutting mechanism (5); the branch gathering mechanism (6) is used for bundling sea buckthorn branches; the cutting mechanism (5) is used for cutting the bundled sea buckthorn branches; the branch shifting mechanism (7) is used for throwing the cut sea buckthorn branches onto the conveying mechanism (3); and the conveying mechanism (3) is used for transferring the cut sea buckthorn branches to a stockpile; The hydraulic drive system comprises: a hydraulic pump drive device and a solenoid valve group, wherein the solenoid valve group is installed at the output end of the hydraulic pump drive device, and the folding mechanism (2), the conveying mechanism (3), the height adjustment mechanism (4), the branch gathering mechanism (6) and the branch pulling mechanism (7) are all connected to the solenoid valve group through a hydraulic pipeline; The electromagnetic valve group, the control system, the conveying mechanism (3), the height adjustment mechanism (4) and the cutting mechanism (5) are electrically connected, and the control system is used to control the operation of the sea buckthorn harvesting device.

2. The adaptive sea buckthorn harvesting device based on machine vision according to claim 1, characterized in that: The folding mechanism (2) comprises: a slewing support bearing (201), a hydraulic folding machine (202) and a guide hydraulic cylinder (204); the hydraulic folding machine (202) comprises: a first folding plate, a second folding plate and a folding hydraulic cylinder; the lower side of the first folding plate and the side of the second folding plate are hinged; at least one folding hydraulic cylinder is installed between the first folding plate and the second folding plate; the plurality of folding hydraulic cylinders are used to adjust the angle between the first folding plate and the second folding plate; the second folding plate is rotatably installed on the upper surface of the frame (1) through the slewing support bearing (201); one end of the guide hydraulic cylinder (204) is rotatably connected to the upper surface of the frame (1); the other end of the guide hydraulic cylinder (204) is rotatably connected to one end of the second folding plate; the guide hydraulic cylinder (204) is used to drive the second folding plate to rotate.

3. The adaptive seabuckthorn harvesting device based on machine vision according to claim 2 is characterized in that: The folding mechanism (2) further comprises: an auxiliary support (203), the auxiliary support (203) being mounted on the upper surface of the vehicle frame (1), an arc-shaped slideway being arranged in the auxiliary support (203), and the other end of the second folding plate being slidably mounted in the arc-shaped slideway.

4. The adaptive sea buckthorn harvesting device based on machine vision according to claim 2, characterized in that: The conveying mechanism (3) comprises: a support (301), a conveyor belt (302) and a lifting hydraulic cylinder (303); the support (301) is mounted on a first folding plate; the two sides of the front portion of the conveyor belt (302) are respectively rotatably connected to the two sides of the front end of the support (301); the two lifting hydraulic cylinders (303) are symmetrically arranged; the cylinder ends of the two lifting hydraulic cylinders (303) are respectively rotatably connected to the two sides of the rear end of the support (301); the cylinder rod ends of the two lifting hydraulic cylinders (303) are respectively rotatably connected to the two sides of the rear end of the conveyor belt (302); the two lifting hydraulic cylinders (303) are used to drive the conveyor belt (302) to rotate around the front end of the support (301).

5. The adaptive sea buckthorn harvesting device based on machine vision according to claim 4, characterized in that: The height adjustment mechanism (4) comprises: a rear support plate (401), a branch-push wheel adjustment rod (405), a branch-push wheel support rod (406), an electric push cylinder (407), an electric push cylinder connecting piece (408) and a branch-push wheel hydraulic cylinder (411); the two rear support plates (401) are respectively mounted on both sides of the front end of the bracket (301); the rear end of each branch-push wheel adjustment rod (405) is rotatably mounted on the upper end of a rear support plate (401); a branch-push wheel hydraulic cylinder (411) is provided below each branch-push wheel adjustment rod (405); the cylinder end of the branch-push wheel hydraulic cylinder (411) is rotatably mounted on the rear support plate (401); The cylinder rod end of the pressure cylinder (411) is rotatably mounted on the middle part of the branch-push wheel adjusting rod (405); the branch-push wheel hydraulic cylinder (411) is used to drive the branch-push wheel adjusting rod (405) to rotate; each branch-push wheel support rod (406) is inserted into the front end of a branch-push wheel adjusting rod (405), the front end of the branch-push wheel adjusting rod (405) is connected to the cylinder body of an electric push cylinder (407), the middle part of the branch-push wheel support rod (406) is connected to the cylinder rod end of the electric push cylinder (407) through an electric push cylinder connecting piece (408), and the electric push cylinder (407) is used to drive the branch-push wheel support rod (406) to slide along the branch-push wheel adjusting rod (405).

6. The adaptive sea buckthorn harvesting device based on machine vision according to claim 5, characterized in that: The height adjustment mechanism (4) further comprises: an industrial camera (409), wherein an industrial camera (409) is installed at the front end of each branch shifting wheel support rod (406), and the industrial camera (409) is electrically connected to the control system.

7. The adaptive seabuckthorn harvesting device based on machine vision according to claim 5, characterized in that: The height adjustment mechanism (4) comprises: an upper connecting rod (402), a lower connecting rod (403), a front connecting rod (404) and a tool hydraulic cylinder (410); the rear end of each upper connecting rod (402) is rotatably connected to a rear support plate (401); the rear end of each lower connecting rod (403) is rotatably connected to a rear support plate (401); the upper connecting rod (402) located on the same rear support plate (401) is located above the lower connecting rod (403); the front end of the upper connecting rod (402) and the front end of the lower connecting rod (403) located on the same rear support plate (401) are rotatably connected to the upper and lower ends of the front connecting rod (404) respectively; a tool hydraulic cylinder (410) is provided below each lower connecting rod (403); the cylinder end of the tool hydraulic cylinder (410) is rotatably mounted on the rear support plate (401); and the cylinder rod end of the tool hydraulic cylinder (410) is rotatably mounted on the middle part of the lower connecting rod (403).

8. The adaptive seabuckthorn harvesting device based on machine vision according to claim 7, characterized in that: The cutting mechanism (5) comprises: a tool holder (501), a saw blade clamping motor (502), a circular saw blade (503), a motor protection shell (504) and a tool holder rear end connection part (505); the tool holder rear end connection parts (505) are installed at both ends of the tool holder (501); each tool holder rear end connection part (505) is installed on a front connecting rod (404); a plurality of saw blade clamping motors (502) and a motor protection shell (504) with a bottom opening are installed on the front side of the tool holder (501); the plurality of saw blade clamping motors (502) are located in the motor protection shell (504); a circular saw blade (503) is installed at the output end of each saw blade clamping motor (502); and the plurality of circular saw blades (503) extend out from the bottom opening of the motor protection shell (504).

9. The adaptive seabuckthorn harvesting device based on machine vision according to claim 8, characterized in that: The branch gathering mechanism (6) comprises: a branch gathering plate (601) and a branch gathering plate hydraulic cylinder (602); the two branch gathering plates (601) are symmetrically arranged at two ends of a tool holder (501) and are rotatably mounted on the tool holder (501); a plurality of saw blade clamping motors (502) are all located between the two branch gathering plates (601); the two branch gathering plate hydraulic cylinders (602) are respectively arranged on the outsides of the two branch gathering plates (601); the cylinder body ends of the branch gathering plate hydraulic cylinders (602) are rotatably connected to the tool holder (501); the cylinder rod ends of the branch gathering plate hydraulic cylinders (602) are rotatably connected to the branch gathering plates (601); and the two branch gathering plate hydraulic cylinders (602) are used to adjust the included angle between the two branch gathering plates (601).

10. The machine vision-based adaptive seabuckthorn harvesting device according to claim 6, characterized in that: The branch-moving mechanism (7) comprises: a branch-moving wheel (701), a hydraulic motor (702), a coupling (703) and a bearing seat (704); a bearing seat (704) is installed at the front end of each branch-moving wheel support rod (406); the bearing seat (704) located on the same branch-moving wheel support rod (406) is arranged at the rear side of the industrial camera (409); the two ends of the branch-moving wheel (701) are respectively rotatably connected to the two bearing seats (704); the output end of the hydraulic motor (702) and one end of the branch-moving wheel (701) are transmission-connected via the coupling (703); the hydraulic motor (702) and the electromagnetic valve group are connected via a hydraulic pipeline.

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